def default_action(self):
""" Apply rotation to the platine unit """
# Reset movement variables
ry, rz = 0.0, 0.0
if self._is_manual_mode:
return
try:
normal_speed = self._speed / self.frequency
# For the moment ignoring the division by zero
# It happens apparently when the simulation starts
except ZeroDivisionError:
pass
self._current_pan = self._pan_orientation.to_euler().z
self._current_tilt = self._tilt_orientation.to_euler().y
logger.debug("PTU: pan=%.4f, tilt=%.4f" %
(self._current_pan, self._current_tilt))
# Get the angles in a range of -PI, PI
target_pan = normalise_angle(self.local_data['pan'])
target_tilt = normalise_angle(self.local_data['tilt'])
logger.debug("Targets: pan=%.4f, tilt=%.4f" %
(target_pan, target_tilt))
if (abs(target_pan - self._current_pan) < self._tolerance
and abs(target_tilt - self._current_tilt) < self._tolerance):
self.completed(status.SUCCESS)
# Determine the direction of the rotation, if any
ry = rotation_direction(self._current_tilt, target_tilt,
self._tolerance, normal_speed)
rz = rotation_direction(self._current_pan, target_pan, self._tolerance,
normal_speed)
# Give the rotation instructions directly to the parent
# The second parameter specifies a "local" movement
self._pan_base.applyRotation([0.0, 0.0, rz], True)
self._tilt_base.applyRotation([0.0, ry, 0.0], True)
def default_action(self):
""" Apply rotation to the platine unit """
# Reset movement variables
ry, rz = 0.0, 0.0
if self._is_manual_mode:
return
try:
normal_speed = self._speed / self.frequency
# For the moment ignoring the division by zero
# It happens apparently when the simulation starts
except ZeroDivisionError:
pass
self._current_pan = self._pan_orientation.to_euler().z
self._current_tilt = self._tilt_orientation.to_euler().y
logger.debug("PTU: pan=%.4f, tilt=%.4f" % (self._current_pan,
self._current_tilt))
# Get the angles in a range of -PI, PI
target_pan = normalise_angle(self.local_data['pan'])
target_tilt = normalise_angle(self.local_data['tilt'])
logger.debug("Targets: pan=%.4f, tilt=%.4f" % (target_pan, target_tilt))
if (abs(target_pan - self._current_pan) < self._tolerance and
abs(target_tilt - self._current_tilt) < self._tolerance):
self.completed(status.SUCCESS)
# Determine the direction of the rotation, if any
ry = rotation_direction(self._current_tilt, target_tilt,
self._tolerance, normal_speed)
rz = rotation_direction(self._current_pan, target_pan,
self._tolerance, normal_speed)
# Give the rotation instructions directly to the parent
# The second parameter specifies a "local" movement
self._pan_base.applyRotation([0.0, 0.0, rz], True)
self._tilt_base.applyRotation([0.0, ry, 0.0], True)
def default_action(self):
""" Apply rotation to the arm segments """
# Get the reference to the Sound actuator
if self._sound == None:
logger.debug ("ACTIVATING THE SOUND ACTUATOR")
contr = blenderapi.controller()
self._sound = contr.actuators['Sound']
contr.activate(self._sound)
self._sound.stopSound()
# Reset movement variables
rx, ry, rz = 0.0, 0.0, 0.0
# Scale the speeds to the time used by Blender
try:
rotation = self._speed / self.frequency
# For the moment ignoring the division by zero
# It happens apparently when the simulation starts
except ZeroDivisionError:
pass
self._moving = False
for i in range(6):
key = ('seg%d' % i)
target_angle = normalise_angle(self.local_data[key])
# Get the next segment
segment = self._segments[i]
# Extract the angles
rot_matrix = segment.localOrientation
segment_matrix = mathutils.Matrix((rot_matrix[0], rot_matrix[1], rot_matrix[2]))
segment_euler = segment_matrix.to_euler()
# Use the corresponding direction for each rotation
if self._dofs[i] == 'y':
ry = rotation_direction(segment_euler[1], target_angle, self._tolerance, rotation)
#logger.debug("PARAMETERS Y: %.4f, %.4f, %.4f, %.4f = %.4f" % (segment_euler[1], target_angle, _tolerance, rotation, ry))
elif self._dofs[i] == 'z':
rz = rotation_direction(segment_euler[2], target_angle, self._tolerance, rotation)
#logger.debug("PARAMETERS Z: %.4f, %.4f, %.4f, %.4f = %.4f" % (segment_euler[2], target_angle, _tolerance, rotation, rz))
logger.debug("ry = %.4f, rz = %.4f" % (ry, rz))
# Give the movement instructions directly to the parent
# The second parameter specifies a "local" movement
segment.applyRotation([rx, ry, rz], True)
if ry != 0.0 or rz != 0.0:
self._moving = True
# Reset the rotations for the next segment
ry = rz = 0
if self._moving:
self._sound.startSound()
logger.debug("STARTING SOUND")
else:
self._sound.stopSound()
logger.debug("STOPPING SOUND")
def default_action(self):
""" Apply rotation to the arm segments """
# Get the reference to the Sound actuator
if self._sound is None:
logger.debug ("ACTIVATING THE SOUND ACTUATOR")
contr = blenderapi.controller()
self._sound = contr.actuators['Sound']
contr.activate(self._sound)
self._sound.stopSound()
# Reset movement variables
rx, ry, rz = 0.0, 0.0, 0.0
# Scale the speeds to the time used by Blender
try:
rotation = self._speed / self.frequency
# For the moment ignoring the division by zero
# It happens apparently when the simulation starts
except ZeroDivisionError:
pass
self._moving = False
for i in range(6):
key = ('seg%d' % i)
target_angle = normalise_angle(self.local_data[key])
# Get the next segment
segment = self._segments[i]
# Extract the angles
rot_matrix = segment.localOrientation
segment_matrix = mathutils.Matrix((rot_matrix[0], rot_matrix[1], rot_matrix[2]))
segment_euler = segment_matrix.to_euler()
# Use the corresponding direction for each rotation
if self._dofs[i] == 'y':
ry = rotation_direction(segment_euler[1], target_angle, self._tolerance, rotation)
#logger.debug("PARAMETERS Y: %.4f, %.4f, %.4f, %.4f = %.4f" % (segment_euler[1], target_angle, _tolerance, rotation, ry))
elif self._dofs[i] == 'z':
rz = rotation_direction(segment_euler[2], target_angle, self._tolerance, rotation)
#logger.debug("PARAMETERS Z: %.4f, %.4f, %.4f, %.4f = %.4f" % (segment_euler[2], target_angle, _tolerance, rotation, rz))
logger.debug("ry = %.4f, rz = %.4f" % (ry, rz))
# Give the movement instructions directly to the parent
# The second parameter specifies a "local" movement
segment.applyRotation([rx, ry, rz], True)
if ry != 0.0 or rz != 0.0:
self._moving = True
# Reset the rotations for the next segment
ry = rz = 0
if self._moving:
self._sound.startSound()
logger.debug("STARTING SOUND")
else:
self._sound.stopSound()
logger.debug("STOPPING SOUND")